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Planning for Redundant Manipulator Based on Back-Propagation Neural Network

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In this paper, back-propagation neural network is utilized to obtain the location of end effector for a manipulator at any interval time which is useful for path planning purposes. The robustness of the proposed method is demonstrated by solving Forward Kinematics (FK) and high order polynomials simultaneously. A prototype PA10 manipulator is exploited as an example to compare the results which are obtained from conventional excessive computation time method and back-propagation neural network.
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Document Type: Research Article

Publication date: November 1, 2013

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  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
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